package canbus

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• optional bool engine_started = 3

• optional float engine_rpm = 4

  Engine speed in RPM.

• optional float speed_mps = 5

  Vehicle Speed in meters per second.

• optional float odometer_m = 6

  Vehicle odometer in meters.

• optional int32 fuel_range_m = 7

  Fuel range in meters.

• optional float throttle_percentage = 8

  Real throttle location in [%], ranging from 0 to 100.

• optional float brake_percentage = 9

  Real brake location in [%], ranging from 0 to 100.

• optional float steering_percentage = 11

  Real steering location in [%], ranging from -100 to 100. steering_angle / max_steering_angle Clockwise: negative CountClockwise: positive

• optional float steering_torque_nm = 12

  Applied steering torque in [Nm].

• optional bool parking_brake = 13

  Parking brake status.

• optional bool high_beam_signal = 14

  Light signals.

• optional bool low_beam_signal = 15

• optional bool left_turn_signal = 16

• optional bool right_turn_signal = 17

• optional bool horn = 18

• optional bool wiper = 19

• optional bool disengage_status = 20

• optional Chassis.DrivingMode driving_mode = 21

• optional Chassis.ErrorCode error_code = 22

• optional Chassis.GearPosition gear_location = 23

• optional double steering_timestamp = 24

  timestamp for steering module

  In seconds, with 1e-6 accuracy

• optional controller.Header header = 25

  chassis also needs it own sending timestamp

• optional int32 chassis_error_mask = 26

Used in: Chassis, controller.ControlCommand, controller.ControlConf, vehicle_state.VehicleState

• COMPLETE_MANUAL = 0

  human drive

• COMPLETE_AUTO_DRIVE = 1

• AUTO_STEER_ONLY = 2

  only steer

• AUTO_SPEED_ONLY = 3

  include throttle and brake

• EMERGENCY_MODE = 4

  security mode when manual intervention happens, only response status

Used in: Chassis

• NO_ERROR = 0

• CMD_NOT_IN_PERIOD = 1

  control cmd not in period

• CHASSIS_ERROR = 2

  car chassis report error, like steer, brake, throttle, gear fault

• CHASSIS_ERROR_ON_STEER = 6

  classify the types of the car chassis errors

• CHASSIS_ERROR_ON_BRAKE = 7

• CHASSIS_ERROR_ON_THROTTLE = 8

• CHASSIS_ERROR_ON_GEAR = 9

• MANUAL_INTERVENTION = 3

  human manual intervention

• CHASSIS_CAN_NOT_IN_PERIOD = 4

  receive car chassis can frame not in period

• UNKNOWN_ERROR = 5

Used in: Chassis, controller.ControlCommand, planning.ADCTrajectory, vehicle_state.VehicleState

• GEAR_NEUTRAL = 0

• GEAR_DRIVE = 1

• GEAR_REVERSE = 2

• GEAR_PARKING = 3

• GEAR_LOW = 4

• GEAR_INVALID = 5

• GEAR_NONE = 6